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TECHNICAL PAPERS

Structurally Stable Regulation for a Class of Nonlinear Systems: Application to a Rotary Inverted Pendulum

[+] Author and Article Information
B. Castillo-Toledo

 Centro de Investigación y de Estudios Avanzados del IPN Unidad Guadalajara, A.P. 31-438, 44550, Guadalajara, Jal., Méxicotoledo@gdl.cinvestav.mx

G. Obregón-Pulido

Electronic Department, Universidad de Guadalajara, Av. Revolución No. 1500, Col. Olimpica, A.P. 44430, Guadalajara, Jal., Méxicoobregon@cucei.udg.mx

O. Espinosa-Guerra

 Centro de Investigación y de Estudios Avanzados del IPN Unidad Guadalajara, A.P. 31-438, 44550, Guadalajara, Jal., México

J. Dyn. Sys., Meas., Control 128(4), 922-928 (Feb 13, 2006) (7 pages) doi:10.1115/1.2362813 History: Received March 14, 2005; Revised February 13, 2006

This paper presents a structurally stable scheme for nonlinear systems which do not satisfy the so-called FIB conditions for the existence of a linear solution to the structurally stable regulator solution, namely, the case when some necessary detectability condition with respect to the original system’s output does not hold. Under certain additional conditions, it is shown that the proposed scheme guarantees zero output tracking error between the actual output and the desired reference signal, in spite of the presence of parameter variations. Application to the model of a rotary inverted pendulum shows the effectiveness of the proposed scheme.

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Copyright © 2006 by American Society of Mechanical Engineers
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Figures

Grahic Jump Location
Figure 1

Rotary inverted pendulum

Grahic Jump Location
Figure 2

Angle of the pendulum

Grahic Jump Location
Figure 4

Auxiliary output signal

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